In this dissertation Euler-Lagrange’s method is used to model the dynamics of two linked rigid manipulator. The multi input and the multi output model is found to be nonlinear. To observe and control the output response of manipulator, SIMULINK model is designed using S-Function block without any controller and the response found is unbounded. In order to control the position of the manipulator...

In this paper a non-diagonal regulator, based on the QFT method, is synthesized for an uncertain MIMO plant whose output and control signals are subjected to hard time-domain constraints. This procedure includes the design of a non-diagonal pre-controller based on a new simple approach, followed by the sequential design of a diagonal QFT controller. We present a new formulation for the latter s...

Load Frequency Control (LFC); Generation Rate Constraint (GRC); Governor Dead Band (GDB); Differential Evolution (DE); Unified Power Flow Controller (UPFC); Redox Flow Battery (RFB) Abstract In this paper, a Modified Integral Derivative (MID) controller is proposed for Load Frequency Control (LFC) of multi-area multi-source power system in deregulated environment. The multi-source power system ...

This paper introduces application of multi degree of freedom fuzzy(MDOFF) controller in permanent magnet (PM)drive system. The drive system model is developed for FO control. Simulation of the system is carried out to predict the performance at NL and under load,. The results indicate that application of MDOFF controller is effective for sensorless PM drive system. Keywords—Sensorless FO contro...

We present a distributed multi-robot controller for forming spatially efficient queues of arbitrary numbers of robots. The method is formally analyzed and validated in a conventional robot simulation. This controller is based on sunflower phyllotaxis and inherits its efficient packing properties. Two measures of queue spatial efficiency are proposed and their upper bounds for the presented cont...

A neural controller for process control is proposed that combines a conventional multi-loop PID controller with a neural network. The concept of target signal based on feedback error is used for on-line learning of the neural network. This controller is applied to distillation column control to illustrate its effectiveness. The result shows that the proposed neural controller can cope well with...

The subject of the study was hardware implementations of fuzzy controllers as CMOS analog devices on the base of implementation of fuzzy inference rules as multi-valued logic functions using summing amplifiers as building blocks. Earlier a functional completeness of summing amplifier with saturation in an arbitrary-valued logic was proven that gave a theoretical background for analog implementa...